ResearchBenchmarksUAV Navigation on AirSim-SionnaUAV Navigation on AirSim-SionnaFollow14.9Training Time (ms/step)AC14.3618.00521.6525.295May 15, 2026Evaluation resultsMethodMethodLinksTraining Time (ms/step)Online Latency (ms/slot)ACParameters (M)=5.4Parameters (M)=5.42026.0514.95.1PPOParameters (M)=6.6Parameters (M)=6.62026.0515.75.3AC-RRLParameters (M)=5.9Parameters (M)=5.92026.0516.85.8MBPOParameters (M)=7.3Parameters (M)=7.32026.0527.66.2WM-CDTParameters (M)=8.6Parameters (M)=8.62026.0528.46.4